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<div class="title">mainwindow.cpp</div>  </div>
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<a href="mainwindow_8cpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="mainwindow_8h.html">mainwindow.h</a>&quot;</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="preprocessor">#include &quot;ui_mainwindow.h&quot;</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="preprocessor">#include &lt;QPixmap&gt;</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#include &lt;QSettings&gt;</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;</div><div class="line"><a name="l00006"></a><span class="lineno"><a class="line" href="mainwindow_8cpp.html#ab6a8d1ab93de8bf397f2ba1580dee285">    6</a></span>&#160;<span class="keyword">const</span> <span class="keywordtype">double</span> <a class="code" href="mainwindow_8cpp.html#ab6a8d1ab93de8bf397f2ba1580dee285">SLIDER_MAX</a> = 5;</div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;</div><div class="line"><a name="l00008"></a><span class="lineno"><a class="line" href="class_main_window.html#a6f0a90213d93b861d43c09dd01c52962">    8</a></span>&#160;<a class="code" href="class_main_window.html#a6f0a90213d93b861d43c09dd01c52962">MainWindow::MainWindow</a>(<a class="code" href="class_q_node.html">QNode</a>* qnode,QWidget *parent) :</div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;    QMainWindow(parent),qnode(qnode),</div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;    ui(new <a class="code" href="namespace_ui.html">Ui</a>::<a class="code" href="class_main_window.html">MainWindow</a>)</div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;{</div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;    ui-&gt;<a class="code" href="class_ui___main_window.html#acf4a0872c4c77d8f43a2ec66ed849b58">setupUi</a>(<span class="keyword">this</span>);</div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;    </div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;    <span class="comment">// intial configuration</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;</div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;    <span class="comment">// logos</span></div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;    <span class="keywordtype">string</span> cd = __FILE__;</div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;    cd.erase(cd.end()-14,cd.end());    </div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;    QPixmap pix_larr((cd+<span class="stringliteral">&quot;/resources/LARR.jpg&quot;</span>).c_str());</div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;    <span class="keywordtype">int</span> w = ui-&gt;<a class="code" href="class_ui___main_window.html#aa107ef3f0a591af5ab5a53feeaf98cf5">label_larr</a>-&gt;width();</div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;    <span class="keywordtype">int</span> h = ui-&gt;<a class="code" href="class_ui___main_window.html#aa107ef3f0a591af5ab5a53feeaf98cf5">label_larr</a>-&gt;height();</div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;    ui-&gt;<a class="code" href="class_ui___main_window.html#aa107ef3f0a591af5ab5a53feeaf98cf5">label_larr</a>-&gt;setPixmap(pix_larr.scaled(w,h,Qt::KeepAspectRatio));</div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;</div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;    QPixmap pix_larr2((cd + <span class="stringliteral">&quot;/resources/maxresdefault.jpg&quot;</span>).c_str());</div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;    <span class="keywordtype">int</span> w2 = ui-&gt;<a class="code" href="class_ui___main_window.html#a9952714064881810c364b0c31d2d59df">label_larr_2</a>-&gt;width();</div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;    <span class="keywordtype">int</span> h2 = ui-&gt;<a class="code" href="class_ui___main_window.html#a9952714064881810c364b0c31d2d59df">label_larr_2</a>-&gt;height();</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;    ui-&gt;<a class="code" href="class_ui___main_window.html#a9952714064881810c364b0c31d2d59df">label_larr_2</a>-&gt;setPixmap(pix_larr2.scaled(w2,h2,Qt::KeepAspectRatio));</div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;</div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;    </div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;</div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;    <span class="comment">// push button color</span></div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;    ui-&gt;<a class="code" href="class_ui___main_window.html#aa92103c3833c2d9702d9fe03df3a48f4">pushButton_ros</a>-&gt;setStyleSheet(<span class="stringliteral">&quot;  QPushButton:checked{background-color: rgba(200, 20, 80,20);\</span></div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="stringliteral">                                          }&quot;</span>);</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;    ui-&gt;<a class="code" href="class_ui___main_window.html#ae474025a1640cbb55bec3205474f0a1f">pushButton_waypoint</a>-&gt;setStyleSheet(<span class="stringliteral">&quot;QPushButton:checked{background-color: rgba(0, 100, 80,20);\</span></div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="stringliteral">                                           }&quot;</span>);</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;    ui-&gt;<a class="code" href="class_ui___main_window.html#a5ecf2ba9a2778d906864493f45ee67a5">pushButton_publish</a>-&gt;setStyleSheet(<span class="stringliteral">&quot;QPushButton:checked{background-color: rgba(0, 20, 100,50);\</span></div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="stringliteral">                                           }&quot;</span>);</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;    QObject::connect(qnode,SIGNAL(writeOnBoard(QString)),<span class="keyword">this</span>,SLOT(textEdit_write(QString)));</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;    QObject::connect(qnode, SIGNAL(rosShutdown()), <span class="keyword">this</span>, SLOT(close()));</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;    QObject::connect(qnode, SIGNAL(askSlider(<span class="keywordtype">double</span> *)), <span class="keyword">this</span>, SLOT(get_slider_value(<span class="keywordtype">double</span> *)));   </div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;    <a class="code" href="class_main_window.html#a4abba2c52f756524c0f388d0d3e6d6ec">ReadSettings</a>();</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;    ui-&gt;<a class="code" href="class_ui___main_window.html#a87f1c3679fff12e451234f3f6cf1a620">lineEdit_n_corridor</a>-&gt;setDisabled(<span class="keyword">true</span>);</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;    ui-&gt;<a class="code" href="class_ui___main_window.html#a70ba66673066720ed431921d1c7f33fb">lineEdit_deviation_weight</a>-&gt;setDisabled(<span class="keyword">true</span>);</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;    std::ostringstream strs1;</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;    strs1 &lt;&lt; <a class="code" href="mainwindow_8cpp.html#ab6a8d1ab93de8bf397f2ba1580dee285">SLIDER_MAX</a>;</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;    std::string str1 = strs1.str();</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;    </div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;    std::ostringstream strs2;</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;    strs2 &lt;&lt; SLIDER_MAX/2.0;</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;    std::string str2 = strs2.str();</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;    </div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    ui-&gt;label_slider_upper-&gt;setText(str1.c_str());</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;    ui-&gt;label_slider_middle-&gt;setText(str2.c_str());</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;}</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;</div><div class="line"><a name="l00063"></a><span class="lineno"><a class="line" href="class_main_window.html#ae98d00a93bc118200eeef9f9bba1dba7">   63</a></span>&#160;<a class="code" href="class_main_window.html#ae98d00a93bc118200eeef9f9bba1dba7">MainWindow::~MainWindow</a>()</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;{</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    <span class="keyword">delete</span> ui;</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;}</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;</div><div class="line"><a name="l00068"></a><span class="lineno"><a class="line" href="class_main_window.html#a4e20a4a065fbb0e4d3532a45a0a91425">   68</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="class_main_window.html#a4e20a4a065fbb0e4d3532a45a0a91425">MainWindow::closeEvent</a>(QCloseEvent *event){</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;        qnode-&gt;<a class="code" href="class_q_node.html#a770568addece696138f515d38408ff5c">shutdown</a>();</div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;        <a class="code" href="class_main_window.html#a56a5e4d5e0a022e8c1ecf350d2916ade">WriteSettings</a>();</div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;        QMainWindow::closeEvent(event);</div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;}</div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;</div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;</div><div class="line"><a name="l00076"></a><span class="lineno"><a class="line" href="class_main_window.html#a4abba2c52f756524c0f388d0d3e6d6ec">   76</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="class_main_window.html#a4abba2c52f756524c0f388d0d3e6d6ec">MainWindow::ReadSettings</a>(){</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;    QSettings settings(<span class="stringliteral">&quot;path_planner&quot;</span>, qnode-&gt;<a class="code" href="class_q_node.html#ac21ae24311df97ac0e15c97179763b0e">nodeName</a>().c_str());</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;    <span class="comment">// setting names    </span></div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;    QString filename = settings.value(<span class="stringliteral">&quot;filename&quot;</span>,QString(<span class="stringliteral">&quot;path_saved.txt&quot;</span>)).toString();</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;    QString poly_order = settings.value(<span class="stringliteral">&quot;poly_order&quot;</span>,QString(<span class="stringliteral">&quot;6&quot;</span>)).toString();</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;    QString simulation_tf = settings.value(<span class="stringliteral">&quot;tf&quot;</span>, QString(<span class="stringliteral">&quot;20&quot;</span>)).toString();</div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;    QString weight_on_deviation = settings.value(<span class="stringliteral">&quot;w_d&quot;</span>, QString(<span class="stringliteral">&quot;2&quot;</span>)).toString();</div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;    QString safe_rad = settings.value(<span class="stringliteral">&quot;safe_radius&quot;</span>,QString(<span class="stringliteral">&quot;0.5&quot;</span>)).toString();</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;    QString num_per_seg = settings.value(<span class="stringliteral">&quot;number_per_seg&quot;</span>,QString(<span class="stringliteral">&quot;2&quot;</span>)).toString();</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;    QString derivative = settings.value(<span class="stringliteral">&quot;derivative&quot;</span>,QString(<span class="stringliteral">&quot;3&quot;</span>)).toString();</div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160; </div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;    </div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;    <span class="comment">// fill with previous settings </span></div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;    ui-&gt;<a class="code" href="class_ui___main_window.html#aa169d6e83003b698884c786413bfce46">lineEdit_load_directory</a>-&gt;setText(filename);</div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;    ui-&gt;<a class="code" href="class_ui___main_window.html#a433a1cdefc31a548bb5a3c9b34489d67">lineEdit_sim_tf</a>-&gt;setText(simulation_tf);</div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;    ui-&gt;<a class="code" href="class_ui___main_window.html#a70ba66673066720ed431921d1c7f33fb">lineEdit_deviation_weight</a>-&gt;setText(weight_on_deviation);</div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;    ui-&gt;<a class="code" href="class_ui___main_window.html#a87f1c3679fff12e451234f3f6cf1a620">lineEdit_n_corridor</a>-&gt;setText(num_per_seg);</div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;    ui-&gt;<a class="code" href="class_ui___main_window.html#a381929a8b1f17dedb69a1569d678ca2f">lineEdit_safe_radius</a>-&gt;setText(safe_rad);</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;    ui-&gt;<a class="code" href="class_ui___main_window.html#ad06eaa4cbcd0eddeda7136d30b0f9fef">lineEdit_poly_order</a>-&gt;setText(poly_order);</div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;    ui-&gt;<a class="code" href="class_ui___main_window.html#aae0efe7958264dbcc58f8c308d1bf49c">lineEdit_derivative</a>-&gt;setText(derivative);</div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;</div><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;    </div><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;}</div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;</div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;</div><div class="line"><a name="l00102"></a><span class="lineno"><a class="line" href="class_main_window.html#a56a5e4d5e0a022e8c1ecf350d2916ade">  102</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="class_main_window.html#a56a5e4d5e0a022e8c1ecf350d2916ade">MainWindow::WriteSettings</a>(){</div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;</div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;    QSettings settings(<span class="stringliteral">&quot;path_planner&quot;</span>, qnode-&gt;<a class="code" href="class_q_node.html#ac21ae24311df97ac0e15c97179763b0e">nodeName</a>().c_str());</div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;    </div><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;    settings.setValue(<span class="stringliteral">&quot;geometry&quot;</span>, geometry());</div><div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;    settings.setValue(<span class="stringliteral">&quot;windowState&quot;</span>, saveState());</div><div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;</div><div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;    settings.setValue(<span class="stringliteral">&quot;filename&quot;</span>,ui-&gt;<a class="code" href="class_ui___main_window.html#aa169d6e83003b698884c786413bfce46">lineEdit_load_directory</a>-&gt;text());</div><div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;    settings.setValue(<span class="stringliteral">&quot;tf&quot;</span>,ui-&gt;<a class="code" href="class_ui___main_window.html#a433a1cdefc31a548bb5a3c9b34489d67">lineEdit_sim_tf</a>-&gt;text());</div><div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;    settings.setValue(<span class="stringliteral">&quot;poly_order&quot;</span>,ui-&gt;<a class="code" href="class_ui___main_window.html#ad06eaa4cbcd0eddeda7136d30b0f9fef">lineEdit_poly_order</a>-&gt;text());</div><div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;    settings.setValue(<span class="stringliteral">&quot;w_d&quot;</span>,ui-&gt;<a class="code" href="class_ui___main_window.html#a70ba66673066720ed431921d1c7f33fb">lineEdit_deviation_weight</a>-&gt;text());</div><div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;    settings.setValue(<span class="stringliteral">&quot;safe_radius&quot;</span>,ui-&gt;<a class="code" href="class_ui___main_window.html#a381929a8b1f17dedb69a1569d678ca2f">lineEdit_safe_radius</a>-&gt;text());</div><div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;    settings.setValue(<span class="stringliteral">&quot;number_per_seg&quot;</span>,ui-&gt;<a class="code" href="class_ui___main_window.html#a87f1c3679fff12e451234f3f6cf1a620">lineEdit_n_corridor</a>-&gt;text());</div><div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;    settings.setValue(<span class="stringliteral">&quot;derivative&quot;</span>,ui-&gt;<a class="code" href="class_ui___main_window.html#aae0efe7958264dbcc58f8c308d1bf49c">lineEdit_derivative</a>-&gt;text());</div><div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;</div><div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;}</div><div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;</div><div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;</div><div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;<span class="keywordtype">void</span> MainWindow::on_pushButton_clear_clicked(){</div><div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;    <span class="comment">// initialize the queue in qnode </span></div><div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;    qnode-&gt;<a class="code" href="class_q_node.html#ae7dd0fd8218c767bfa1ff5ba837cd165">queue</a>.clear();</div><div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;    qnode-&gt;<a class="code" href="class_q_node.html#a7fa96879efd44c15a8b03f3cdd9d665b">wpnt_markerArray</a>.markers.clear();</div><div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;</div><div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;}</div><div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;</div><div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;<span class="keywordtype">void</span> MainWindow::on_pushButton_undo_clicked(){</div><div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;    <span class="comment">// remove the back element</span></div><div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;    qnode-&gt;<a class="code" href="class_q_node.html#ae7dd0fd8218c767bfa1ff5ba837cd165">queue</a>.pop_back();</div><div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;    qnode-&gt;<a class="code" href="class_q_node.html#a7fa96879efd44c15a8b03f3cdd9d665b">wpnt_markerArray</a>.markers.pop_back();</div><div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;}</div><div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;<span class="keywordtype">void</span> MainWindow::on_pushButton_ros_clicked(<span class="keywordtype">bool</span> checked)</div><div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;{</div><div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;</div><div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;    <span class="keywordflow">if</span>(qnode-&gt;<a class="code" href="class_q_node.html#a32d00dbcf15c277e08caabf95af04f6e">on_init</a>()){</div><div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;        ui-&gt;<a class="code" href="class_ui___main_window.html#ae1dd77d4b2a80359c1f593a940b26418">textEdit_message</a>-&gt;append(<span class="stringliteral">&quot;ros connected.&quot;</span>);</div><div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;        qnode-&gt;<a class="code" href="class_q_node.html#a98b08e7704b00df8648f8c08dffe950c">is_connected</a> = <span class="keyword">true</span>;</div><div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;</div><div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;    }<span class="keywordflow">else</span>{</div><div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;        ui-&gt;<a class="code" href="class_ui___main_window.html#ae1dd77d4b2a80359c1f593a940b26418">textEdit_message</a>-&gt;append(<span class="stringliteral">&quot;failed. retry&quot;</span>);</div><div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;    }</div><div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;</div><div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;</div><div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;}</div><div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;</div><div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;<span class="keywordtype">void</span> MainWindow::on_pushButton_save_clicked(){</div><div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;</div><div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;</div><div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;    <span class="comment">// file write</span></div><div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;    std::ofstream wnpt_file;</div><div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;    <span class="keywordtype">string</span> filename = ui-&gt;<a class="code" href="class_ui___main_window.html#aa169d6e83003b698884c786413bfce46">lineEdit_load_directory</a>-&gt;text().toStdString();</div><div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;    wnpt_file.open(filename);</div><div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;</div><div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;    <span class="keywordflow">if</span>(wnpt_file.is_open()){</div><div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;        <span class="keywordflow">for</span>(<span class="keyword">auto</span> it = qnode-&gt;<a class="code" href="class_q_node.html#ae7dd0fd8218c767bfa1ff5ba837cd165">queue</a>.begin();it&lt;qnode-&gt;<a class="code" href="class_q_node.html#ae7dd0fd8218c767bfa1ff5ba837cd165">queue</a>.end();it++){</div><div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;            wnpt_file&lt;&lt;std::to_string(it-&gt;pose.position.x)&lt;&lt;<span class="stringliteral">&quot;,&quot;</span>&lt;&lt;std::to_string(it-&gt;pose.position.y)&lt;&lt;<span class="stringliteral">&quot;,&quot;</span>&lt;&lt;std::to_string(it-&gt;pose.position.z)&lt;&lt;<span class="stringliteral">&quot;\n&quot;</span>;</div><div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;        }</div><div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;        wnpt_file.close();</div><div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;        ui-&gt;<a class="code" href="class_ui___main_window.html#ae1dd77d4b2a80359c1f593a940b26418">textEdit_message</a>-&gt;append(QString((<span class="keywordtype">string</span>(<span class="stringliteral">&quot;to &quot;</span>) + filename + <span class="keywordtype">string</span>(<span class="stringliteral">&quot;, written&quot;</span>)).data()));</div><div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;</div><div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;    }<span class="keywordflow">else</span></div><div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;        ui-&gt;<a class="code" href="class_ui___main_window.html#ae1dd77d4b2a80359c1f593a940b26418">textEdit_message</a>-&gt;append(QString(<span class="stringliteral">&quot;file not written.&quot;</span>));</div><div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;</div><div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;}</div><div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;</div><div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;<span class="keywordtype">void</span> MainWindow::on_pushButton_waypoint_clicked(<span class="keywordtype">bool</span> checked){</div><div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;    <span class="keywordflow">if</span>(ui-&gt;<a class="code" href="class_ui___main_window.html#ae474025a1640cbb55bec3205474f0a1f">pushButton_waypoint</a>-&gt;isChecked()){</div><div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;        </div><div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;        ui-&gt;<a class="code" href="class_ui___main_window.html#ae1dd77d4b2a80359c1f593a940b26418">textEdit_message</a>-&gt;append(<span class="stringliteral">&quot;please select waypoints&quot;</span>);</div><div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;        qnode-&gt;<a class="code" href="class_q_node.html#a2bbe086eaeebbc5000e7cd2fd6257043">is_insert_permit</a> = <span class="keyword">true</span>;</div><div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;</div><div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;    }<span class="keywordflow">else</span>{</div><div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;</div><div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;        ui-&gt;<a class="code" href="class_ui___main_window.html#ae1dd77d4b2a80359c1f593a940b26418">textEdit_message</a>-&gt;append(<span class="stringliteral">&quot;finishing waypoints selection&quot;</span>);</div><div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;        qnode-&gt;<a class="code" href="class_q_node.html#a2bbe086eaeebbc5000e7cd2fd6257043">is_insert_permit</a> = <span class="keyword">false</span>;</div><div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;    }</div><div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;</div><div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;}</div><div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;</div><div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;<span class="keywordtype">void</span> MainWindow::on_pushButton_trajectory_clicked()</div><div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;{</div><div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;    <span class="comment">// path generation requested</span></div><div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;    <span class="keywordflow">if</span> (qnode-&gt;<a class="code" href="class_q_node.html#ae7dd0fd8218c767bfa1ff5ba837cd165">queue</a>.size()){    </div><div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;    <span class="comment">//parameter parsing</span></div><div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;</div><div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;    <span class="keywordtype">double</span> tf = atoi(ui-&gt;<a class="code" href="class_ui___main_window.html#a433a1cdefc31a548bb5a3c9b34489d67">lineEdit_sim_tf</a>-&gt;text().toStdString().c_str());</div><div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;</div><div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;    <a class="code" href="struct_traj_gen_opts.html">TrajGenOpts</a> option;</div><div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;    option.<a class="code" href="struct_traj_gen_opts.html#a538985230ef4a8cd7763c91d11bebbaf">poly_order</a> = atoi(ui-&gt;<a class="code" href="class_ui___main_window.html#ad06eaa4cbcd0eddeda7136d30b0f9fef">lineEdit_poly_order</a>-&gt;text().toStdString().c_str());</div><div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;    option.objective_derivative = atoi(ui-&gt;<a class="code" href="class_ui___main_window.html#aae0efe7958264dbcc58f8c308d1bf49c">lineEdit_derivative</a>-&gt;text().toStdString().c_str());</div><div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;    option.is_waypoint_soft = ui-&gt;<a class="code" href="class_ui___main_window.html#aba7882352e93b6723bfdc1fcfae07cb3">checkBox_is_soft</a>-&gt;isChecked();</div><div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;    option.is_single_corridor = ui-&gt;<a class="code" href="class_ui___main_window.html#abe81712792b45ca304d2d64d47733240">checkBox_is_single</a>-&gt;isChecked();</div><div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;    option.is_multi_corridor = ui-&gt;<a class="code" href="class_ui___main_window.html#ae2abbaae1ca7973cea2517946b0d9c18">checkBox_is_multi</a>-&gt;isChecked();</div><div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;    option.w_d = atof(ui-&gt;<a class="code" href="class_ui___main_window.html#a70ba66673066720ed431921d1c7f33fb">lineEdit_deviation_weight</a>-&gt;text().toStdString().c_str());</div><div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;    option.N_safe_pnts = atoi(ui-&gt;<a class="code" href="class_ui___main_window.html#a87f1c3679fff12e451234f3f6cf1a620">lineEdit_n_corridor</a>-&gt;text().toStdString().c_str());</div><div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;    option.safe_r = atof(ui-&gt;<a class="code" href="class_ui___main_window.html#a381929a8b1f17dedb69a1569d678ca2f">lineEdit_safe_radius</a>-&gt;text().toStdString().c_str());</div><div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;    </div><div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;    <span class="keywordflow">if</span>(qnode-&gt;<a class="code" href="class_q_node.html#af5092d0c618f01146c415c77bd025a35">traj_gen_call</a>(tf,geometry_msgs::Twist(),geometry_msgs::Twist(),option))</div><div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;        ui-&gt;<a class="code" href="class_ui___main_window.html#ae1dd77d4b2a80359c1f593a940b26418">textEdit_message</a>-&gt;append(<span class="stringliteral">&quot;trajectory obtained&quot;</span>);</div><div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;    <span class="keywordflow">else</span></div><div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;        ui-&gt;<a class="code" href="class_ui___main_window.html#ae1dd77d4b2a80359c1f593a940b26418">textEdit_message</a>-&gt;append(<span class="stringliteral">&quot;generation failed.&quot;</span>);</div><div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;    }</div><div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;    <span class="keywordflow">else</span></div><div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;        ui-&gt;<a class="code" href="class_ui___main_window.html#ae1dd77d4b2a80359c1f593a940b26418">textEdit_message</a>-&gt;append(<span class="stringliteral">&quot;No waypoints yet.&quot;</span>);</div><div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;}</div><div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;</div><div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;<span class="keywordtype">void</span> MainWindow::on_checkBox_is_multi_clicked(){</div><div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;</div><div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;    <span class="keywordflow">if</span>(ui-&gt;<a class="code" href="class_ui___main_window.html#ae2abbaae1ca7973cea2517946b0d9c18">checkBox_is_multi</a>-&gt;isChecked()){</div><div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;        ui-&gt;<a class="code" href="class_ui___main_window.html#a87f1c3679fff12e451234f3f6cf1a620">lineEdit_n_corridor</a>-&gt;setEnabled(<span class="keyword">true</span>);</div><div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;        <span class="keywordflow">if</span>(ui-&gt;<a class="code" href="class_ui___main_window.html#abe81712792b45ca304d2d64d47733240">checkBox_is_single</a>-&gt;isChecked())</div><div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;            ui-&gt;<a class="code" href="class_ui___main_window.html#abe81712792b45ca304d2d64d47733240">checkBox_is_single</a>-&gt;setChecked(<span class="keyword">false</span>);</div><div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;    }<span class="keywordflow">else</span>{</div><div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;</div><div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;        ui-&gt;<a class="code" href="class_ui___main_window.html#a87f1c3679fff12e451234f3f6cf1a620">lineEdit_n_corridor</a>-&gt;setDisabled(<span class="keyword">true</span>);</div><div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;    }</div><div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;}</div><div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;</div><div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;<span class="keywordtype">void</span> MainWindow::on_checkBox_is_soft_clicked(){</div><div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;</div><div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;    <span class="keywordflow">if</span>(ui-&gt;<a class="code" href="class_ui___main_window.html#aba7882352e93b6723bfdc1fcfae07cb3">checkBox_is_soft</a>-&gt;isChecked()){</div><div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;        ui-&gt;<a class="code" href="class_ui___main_window.html#a70ba66673066720ed431921d1c7f33fb">lineEdit_deviation_weight</a>-&gt;setEnabled(<span class="keyword">true</span>);</div><div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;    }<span class="keywordflow">else</span>{</div><div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;        ui-&gt;<a class="code" href="class_ui___main_window.html#a70ba66673066720ed431921d1c7f33fb">lineEdit_deviation_weight</a>-&gt;setDisabled(<span class="keyword">true</span>);</div><div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;    }</div><div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;</div><div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;}</div><div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;<span class="comment">// single box safety </span></div><div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;<span class="keywordtype">void</span> MainWindow::on_checkBox_is_single_clicked(){</div><div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;</div><div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;     <span class="keywordflow">if</span>(ui-&gt;<a class="code" href="class_ui___main_window.html#abe81712792b45ca304d2d64d47733240">checkBox_is_single</a>-&gt;isChecked()){</div><div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;        <span class="keywordflow">if</span>(ui-&gt;<a class="code" href="class_ui___main_window.html#ae2abbaae1ca7973cea2517946b0d9c18">checkBox_is_multi</a>-&gt;isChecked()){</div><div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;            ui-&gt;<a class="code" href="class_ui___main_window.html#ae2abbaae1ca7973cea2517946b0d9c18">checkBox_is_multi</a>-&gt;setChecked(<span class="keyword">false</span>);</div><div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;            ui-&gt;<a class="code" href="class_ui___main_window.html#a87f1c3679fff12e451234f3f6cf1a620">lineEdit_n_corridor</a>-&gt;setDisabled(<span class="keyword">true</span>);</div><div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;        }</div><div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;    }</div><div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;}</div><div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;</div><div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;<span class="keywordtype">void</span> MainWindow::on_pushButton_load_clicked()</div><div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;{</div><div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;    <span class="comment">// file read : queue wil be filled with these</span></div><div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;</div><div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;    <span class="keywordtype">string</span> filename = ui-&gt;<a class="code" href="class_ui___main_window.html#aa169d6e83003b698884c786413bfce46">lineEdit_load_directory</a>-&gt;text().toStdString();</div><div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;    std::ifstream infile;</div><div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;    infile.open(filename);</div><div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;    <span class="keywordflow">if</span>(infile.is_open())</div><div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;        ui-&gt;<a class="code" href="class_ui___main_window.html#ae1dd77d4b2a80359c1f593a940b26418">textEdit_message</a>-&gt;append(QString(<span class="stringliteral">&quot;pnts reading..&quot;</span>));</div><div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;    <span class="keywordflow">else</span></div><div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;    {</div><div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;        ui-&gt;<a class="code" href="class_ui___main_window.html#ae1dd77d4b2a80359c1f593a940b26418">textEdit_message</a>-&gt;append(QString(<span class="stringliteral">&quot;could not open file.&quot;</span>));</div><div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;    }</div><div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;</div><div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;    std::vector&lt;geometry_msgs::PoseStamped&gt; queue_replace;</div><div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;</div><div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;    <span class="keywordflow">while</span> (! infile.eof()){</div><div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;        std::string line;</div><div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;        getline(infile, line); <span class="comment">// if no delimiter given, new line is that</span></div><div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;        <span class="comment">// std::cout&lt;&lt;line&lt;&lt;std::endl;</span></div><div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;        std::stringstream stream(line);</div><div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;        std::string val;</div><div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;        <span class="keywordtype">int</span> xyz_idx = 0;</div><div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;        geometry_msgs::PoseStamped wpnt;</div><div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;</div><div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;        <span class="keywordflow">while</span>(! stream.eof()) {</div><div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;            getline(stream, val, <span class="charliteral">&#39;,&#39;</span>);</div><div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;            <span class="keywordflow">if</span>(xyz_idx == 0)</div><div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;                wpnt.pose.position.x = atof(val.c_str());</div><div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;            <span class="keywordflow">else</span> <span class="keywordflow">if</span>(xyz_idx == 1)</div><div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;                wpnt.pose.position.y = atof(val.c_str());</div><div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;            <span class="keywordflow">else</span></div><div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;                wpnt.pose.position.z = atof(val.c_str());</div><div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;            xyz_idx ++;</div><div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;        }</div><div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;        queue_replace.push_back(wpnt);</div><div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;        <span class="comment">// std::cout&lt;&lt; wpnt.pose.position.x &lt;&lt;&quot; , &quot;&lt;&lt; wpnt.pose.position.y &lt;&lt;&quot; , &quot;&lt;&lt;wpnt.pose.position.z&lt;&lt;std::endl;</span></div><div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;    }</div><div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;</div><div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;    queue_replace.pop_back();</div><div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;    qnode-&gt;<a class="code" href="class_q_node.html#a2b816456344fcf2d809fe6ff5526b6e9">queue_file_load</a>(0,queue_replace);</div><div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;}</div><div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;</div><div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;<span class="keywordtype">void</span> MainWindow::on_pushButton_publish_clicked()</div><div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;{</div><div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;    <span class="keywordflow">if</span>(ui-&gt;<a class="code" href="class_ui___main_window.html#a5ecf2ba9a2778d906864493f45ee67a5">pushButton_publish</a>-&gt;isChecked()){        </div><div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;        ui-&gt;<a class="code" href="class_ui___main_window.html#ae1dd77d4b2a80359c1f593a940b26418">textEdit_message</a>-&gt;append(<span class="stringliteral">&quot;Move control pose from current pose&quot;</span>);</div><div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;        qnode-&gt;<a class="code" href="class_q_node.html#a6ace2d0aa89adecfe699b3f1c3ce0b0f">is_in_session</a> = <span class="keyword">true</span>;</div><div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;        qnode-&gt;<a class="code" href="class_q_node.html#a96e6599c14732ded065ae6a5b004f872">button_click_time</a> = ros::Time::now();</div><div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;    </div><div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;    }<span class="keywordflow">else</span>{</div><div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;        ui-&gt;<a class="code" href="class_ui___main_window.html#ae1dd77d4b2a80359c1f593a940b26418">textEdit_message</a>-&gt;append(<span class="stringliteral">&quot;stop publishing.&quot;</span>);</div><div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;        qnode-&gt;<a class="code" href="class_q_node.html#a6ace2d0aa89adecfe699b3f1c3ce0b0f">is_in_session</a> = <span class="keyword">false</span>;</div><div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;        qnode-&gt;<a class="code" href="class_q_node.html#a4b5f0a40821fbb176de620cb5a3921f7">previous_elapsed</a> = (ros::Time::now() - qnode-&gt;<a class="code" href="class_q_node.html#a96e6599c14732ded065ae6a5b004f872">button_click_time</a>).toSec() + qnode-&gt;<a class="code" href="class_q_node.html#a4b5f0a40821fbb176de620cb5a3921f7">previous_elapsed</a>; <span class="comment">// total elasped time</span></div><div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;    }</div><div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;</div><div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;}</div><div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;</div><div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;<span class="keywordtype">void</span> MainWindow::textEdit_write(QString line){    </div><div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;    ui-&gt;<a class="code" href="class_ui___main_window.html#ae1dd77d4b2a80359c1f593a940b26418">textEdit_message</a>-&gt;append(line);</div><div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;};</div><div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;</div><div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;<span class="keywordtype">void</span> MainWindow::get_slider_value(<span class="keywordtype">double</span> * height){</div><div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;    *height = double(ui-&gt;verticalSlider-&gt;sliderPosition())/<span class="keywordtype">double</span>(ui-&gt;verticalSlider-&gt;maximum()) * <a class="code" href="mainwindow_8cpp.html#ab6a8d1ab93de8bf397f2ba1580dee285">SLIDER_MAX</a>; </div><div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;    std::cout&lt;&lt;<span class="stringliteral">&quot;slider: &quot;</span>&lt;&lt;ui-&gt;verticalSlider-&gt;sliderPosition()&lt;&lt;std::endl;</div><div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;           </div><div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;} </div><div class="ttc" id="class_q_node_html_a32d00dbcf15c277e08caabf95af04f6e"><div class="ttname"><a href="class_q_node.html#a32d00dbcf15c277e08caabf95af04f6e">QNode::on_init</a></div><div class="ttdeci">bool on_init()</div><div class="ttdef"><b>Definition:</b> <a href="qnode_8cpp_source.html#l00028">qnode.cpp:28</a></div></div>
<div class="ttc" id="class_ui___main_window_html_a381929a8b1f17dedb69a1569d678ca2f"><div class="ttname"><a href="class_ui___main_window.html#a381929a8b1f17dedb69a1569d678ca2f">Ui_MainWindow::lineEdit_safe_radius</a></div><div class="ttdeci">QLineEdit * lineEdit_safe_radius</div><div class="ttdef"><b>Definition:</b> <a href="ui__mainwindow_8h_source.html#l00056">ui_mainwindow.h:56</a></div></div>
<div class="ttc" id="class_ui___main_window_html_ad06eaa4cbcd0eddeda7136d30b0f9fef"><div class="ttname"><a href="class_ui___main_window.html#ad06eaa4cbcd0eddeda7136d30b0f9fef">Ui_MainWindow::lineEdit_poly_order</a></div><div class="ttdeci">QLineEdit * lineEdit_poly_order</div><div class="ttdef"><b>Definition:</b> <a href="ui__mainwindow_8h_source.html#l00042">ui_mainwindow.h:42</a></div></div>
<div class="ttc" id="struct_traj_gen_opts_html"><div class="ttname"><a href="struct_traj_gen_opts.html">TrajGenOpts</a></div><div class="ttdef"><b>Definition:</b> <a href="_poly_traj_gen_8h_source.html#l00063">PolyTrajGen.h:63</a></div></div>
<div class="ttc" id="class_ui___main_window_html_aba7882352e93b6723bfdc1fcfae07cb3"><div class="ttname"><a href="class_ui___main_window.html#aba7882352e93b6723bfdc1fcfae07cb3">Ui_MainWindow::checkBox_is_soft</a></div><div class="ttdeci">QCheckBox * checkBox_is_soft</div><div class="ttdef"><b>Definition:</b> <a href="ui__mainwindow_8h_source.html#l00051">ui_mainwindow.h:51</a></div></div>
<div class="ttc" id="class_ui___main_window_html_ae1dd77d4b2a80359c1f593a940b26418"><div class="ttname"><a href="class_ui___main_window.html#ae1dd77d4b2a80359c1f593a940b26418">Ui_MainWindow::textEdit_message</a></div><div class="ttdeci">QTextEdit * textEdit_message</div><div class="ttdef"><b>Definition:</b> <a href="ui__mainwindow_8h_source.html#l00065">ui_mainwindow.h:65</a></div></div>
<div class="ttc" id="namespace_ui_html"><div class="ttname"><a href="namespace_ui.html">Ui</a></div><div class="ttdef"><b>Definition:</b> <a href="ui__mainwindow_8h_source.html#l00293">ui_mainwindow.h:293</a></div></div>
<div class="ttc" id="class_q_node_html_a96e6599c14732ded065ae6a5b004f872"><div class="ttname"><a href="class_q_node.html#a96e6599c14732ded065ae6a5b004f872">QNode::button_click_time</a></div><div class="ttdeci">ros::Time button_click_time</div><div class="ttdef"><b>Definition:</b> <a href="qnode_8h_source.html#l00068">qnode.h:68</a></div></div>
<div class="ttc" id="class_ui___main_window_html_aae0efe7958264dbcc58f8c308d1bf49c"><div class="ttname"><a href="class_ui___main_window.html#aae0efe7958264dbcc58f8c308d1bf49c">Ui_MainWindow::lineEdit_derivative</a></div><div class="ttdeci">QLineEdit * lineEdit_derivative</div><div class="ttdef"><b>Definition:</b> <a href="ui__mainwindow_8h_source.html#l00063">ui_mainwindow.h:63</a></div></div>
<div class="ttc" id="class_ui___main_window_html_ae2abbaae1ca7973cea2517946b0d9c18"><div class="ttname"><a href="class_ui___main_window.html#ae2abbaae1ca7973cea2517946b0d9c18">Ui_MainWindow::checkBox_is_multi</a></div><div class="ttdeci">QCheckBox * checkBox_is_multi</div><div class="ttdef"><b>Definition:</b> <a href="ui__mainwindow_8h_source.html#l00054">ui_mainwindow.h:54</a></div></div>
<div class="ttc" id="class_ui___main_window_html_abe81712792b45ca304d2d64d47733240"><div class="ttname"><a href="class_ui___main_window.html#abe81712792b45ca304d2d64d47733240">Ui_MainWindow::checkBox_is_single</a></div><div class="ttdeci">QCheckBox * checkBox_is_single</div><div class="ttdef"><b>Definition:</b> <a href="ui__mainwindow_8h_source.html#l00064">ui_mainwindow.h:64</a></div></div>
<div class="ttc" id="class_main_window_html_ae98d00a93bc118200eeef9f9bba1dba7"><div class="ttname"><a href="class_main_window.html#ae98d00a93bc118200eeef9f9bba1dba7">MainWindow::~MainWindow</a></div><div class="ttdeci">~MainWindow()</div><div class="ttdef"><b>Definition:</b> <a href="mainwindow_8cpp_source.html#l00063">mainwindow.cpp:63</a></div></div>
<div class="ttc" id="class_ui___main_window_html_aa107ef3f0a591af5ab5a53feeaf98cf5"><div class="ttname"><a href="class_ui___main_window.html#aa107ef3f0a591af5ab5a53feeaf98cf5">Ui_MainWindow::label_larr</a></div><div class="ttdeci">QLabel * label_larr</div><div class="ttdef"><b>Definition:</b> <a href="ui__mainwindow_8h_source.html#l00066">ui_mainwindow.h:66</a></div></div>
<div class="ttc" id="class_ui___main_window_html_aa92103c3833c2d9702d9fe03df3a48f4"><div class="ttname"><a href="class_ui___main_window.html#aa92103c3833c2d9702d9fe03df3a48f4">Ui_MainWindow::pushButton_ros</a></div><div class="ttdeci">QPushButton * pushButton_ros</div><div class="ttdef"><b>Definition:</b> <a href="ui__mainwindow_8h_source.html#l00037">ui_mainwindow.h:37</a></div></div>
<div class="ttc" id="class_q_node_html_a7fa96879efd44c15a8b03f3cdd9d665b"><div class="ttname"><a href="class_q_node.html#a7fa96879efd44c15a8b03f3cdd9d665b">QNode::wpnt_markerArray</a></div><div class="ttdeci">visualization_msgs::MarkerArray wpnt_markerArray</div><div class="ttdef"><b>Definition:</b> <a href="qnode_8h_source.html#l00055">qnode.h:55</a></div></div>
<div class="ttc" id="class_q_node_html_a2bbe086eaeebbc5000e7cd2fd6257043"><div class="ttname"><a href="class_q_node.html#a2bbe086eaeebbc5000e7cd2fd6257043">QNode::is_insert_permit</a></div><div class="ttdeci">bool is_insert_permit</div><div class="ttdef"><b>Definition:</b> <a href="qnode_8h_source.html#l00059">qnode.h:59</a></div></div>
<div class="ttc" id="class_q_node_html_a98b08e7704b00df8648f8c08dffe950c"><div class="ttname"><a href="class_q_node.html#a98b08e7704b00df8648f8c08dffe950c">QNode::is_connected</a></div><div class="ttdeci">bool is_connected</div><div class="ttdef"><b>Definition:</b> <a href="qnode_8h_source.html#l00058">qnode.h:58</a></div></div>
<div class="ttc" id="class_ui___main_window_html_a9952714064881810c364b0c31d2d59df"><div class="ttname"><a href="class_ui___main_window.html#a9952714064881810c364b0c31d2d59df">Ui_MainWindow::label_larr_2</a></div><div class="ttdeci">QLabel * label_larr_2</div><div class="ttdef"><b>Definition:</b> <a href="ui__mainwindow_8h_source.html#l00067">ui_mainwindow.h:67</a></div></div>
<div class="ttc" id="class_main_window_html_a4abba2c52f756524c0f388d0d3e6d6ec"><div class="ttname"><a href="class_main_window.html#a4abba2c52f756524c0f388d0d3e6d6ec">MainWindow::ReadSettings</a></div><div class="ttdeci">void ReadSettings()</div><div class="ttdef"><b>Definition:</b> <a href="mainwindow_8cpp_source.html#l00076">mainwindow.cpp:76</a></div></div>
<div class="ttc" id="class_q_node_html_ae7dd0fd8218c767bfa1ff5ba837cd165"><div class="ttname"><a href="class_q_node.html#ae7dd0fd8218c767bfa1ff5ba837cd165">QNode::queue</a></div><div class="ttdeci">std::vector&lt; geometry_msgs::PoseStamped &gt; queue</div><div class="ttdef"><b>Definition:</b> <a href="qnode_8h_source.html#l00054">qnode.h:54</a></div></div>
<div class="ttc" id="class_ui___main_window_html_ae474025a1640cbb55bec3205474f0a1f"><div class="ttname"><a href="class_ui___main_window.html#ae474025a1640cbb55bec3205474f0a1f">Ui_MainWindow::pushButton_waypoint</a></div><div class="ttdeci">QPushButton * pushButton_waypoint</div><div class="ttdef"><b>Definition:</b> <a href="ui__mainwindow_8h_source.html#l00038">ui_mainwindow.h:38</a></div></div>
<div class="ttc" id="class_q_node_html_ac21ae24311df97ac0e15c97179763b0e"><div class="ttname"><a href="class_q_node.html#ac21ae24311df97ac0e15c97179763b0e">QNode::nodeName</a></div><div class="ttdeci">const std::string &amp; nodeName()</div><div class="ttdef"><b>Definition:</b> <a href="qnode_8h_source.html#l00037">qnode.h:37</a></div></div>
<div class="ttc" id="mainwindow_8cpp_html_ab6a8d1ab93de8bf397f2ba1580dee285"><div class="ttname"><a href="mainwindow_8cpp.html#ab6a8d1ab93de8bf397f2ba1580dee285">SLIDER_MAX</a></div><div class="ttdeci">const double SLIDER_MAX</div><div class="ttdef"><b>Definition:</b> <a href="mainwindow_8cpp_source.html#l00006">mainwindow.cpp:6</a></div></div>
<div class="ttc" id="class_ui___main_window_html_acf4a0872c4c77d8f43a2ec66ed849b58"><div class="ttname"><a href="class_ui___main_window.html#acf4a0872c4c77d8f43a2ec66ed849b58">Ui_MainWindow::setupUi</a></div><div class="ttdeci">void setupUi(QMainWindow *MainWindow)</div><div class="ttdef"><b>Definition:</b> <a href="ui__mainwindow_8h_source.html#l00079">ui_mainwindow.h:79</a></div></div>
<div class="ttc" id="class_ui___main_window_html_a5ecf2ba9a2778d906864493f45ee67a5"><div class="ttname"><a href="class_ui___main_window.html#a5ecf2ba9a2778d906864493f45ee67a5">Ui_MainWindow::pushButton_publish</a></div><div class="ttdeci">QPushButton * pushButton_publish</div><div class="ttdef"><b>Definition:</b> <a href="ui__mainwindow_8h_source.html#l00040">ui_mainwindow.h:40</a></div></div>
<div class="ttc" id="mainwindow_8h_html"><div class="ttname"><a href="mainwindow_8h.html">mainwindow.h</a></div></div>
<div class="ttc" id="class_main_window_html_a4e20a4a065fbb0e4d3532a45a0a91425"><div class="ttname"><a href="class_main_window.html#a4e20a4a065fbb0e4d3532a45a0a91425">MainWindow::closeEvent</a></div><div class="ttdeci">void closeEvent(QCloseEvent *event)</div><div class="ttdef"><b>Definition:</b> <a href="mainwindow_8cpp_source.html#l00068">mainwindow.cpp:68</a></div></div>
<div class="ttc" id="class_ui___main_window_html_aa169d6e83003b698884c786413bfce46"><div class="ttname"><a href="class_ui___main_window.html#aa169d6e83003b698884c786413bfce46">Ui_MainWindow::lineEdit_load_directory</a></div><div class="ttdeci">QLineEdit * lineEdit_load_directory</div><div class="ttdef"><b>Definition:</b> <a href="ui__mainwindow_8h_source.html#l00070">ui_mainwindow.h:70</a></div></div>
<div class="ttc" id="class_ui___main_window_html_a433a1cdefc31a548bb5a3c9b34489d67"><div class="ttname"><a href="class_ui___main_window.html#a433a1cdefc31a548bb5a3c9b34489d67">Ui_MainWindow::lineEdit_sim_tf</a></div><div class="ttdeci">QLineEdit * lineEdit_sim_tf</div><div class="ttdef"><b>Definition:</b> <a href="ui__mainwindow_8h_source.html#l00061">ui_mainwindow.h:61</a></div></div>
<div class="ttc" id="class_ui___main_window_html_a87f1c3679fff12e451234f3f6cf1a620"><div class="ttname"><a href="class_ui___main_window.html#a87f1c3679fff12e451234f3f6cf1a620">Ui_MainWindow::lineEdit_n_corridor</a></div><div class="ttdeci">QLineEdit * lineEdit_n_corridor</div><div class="ttdef"><b>Definition:</b> <a href="ui__mainwindow_8h_source.html#l00059">ui_mainwindow.h:59</a></div></div>
<div class="ttc" id="class_ui___main_window_html_a70ba66673066720ed431921d1c7f33fb"><div class="ttname"><a href="class_ui___main_window.html#a70ba66673066720ed431921d1c7f33fb">Ui_MainWindow::lineEdit_deviation_weight</a></div><div class="ttdeci">QLineEdit * lineEdit_deviation_weight</div><div class="ttdef"><b>Definition:</b> <a href="ui__mainwindow_8h_source.html#l00048">ui_mainwindow.h:48</a></div></div>
<div class="ttc" id="class_q_node_html_a6ace2d0aa89adecfe699b3f1c3ce0b0f"><div class="ttname"><a href="class_q_node.html#a6ace2d0aa89adecfe699b3f1c3ce0b0f">QNode::is_in_session</a></div><div class="ttdeci">bool is_in_session</div><div class="ttdef"><b>Definition:</b> <a href="qnode_8h_source.html#l00060">qnode.h:60</a></div></div>
<div class="ttc" id="class_q_node_html"><div class="ttname"><a href="class_q_node.html">QNode</a></div><div class="ttdef"><b>Definition:</b> <a href="qnode_8h_source.html#l00025">qnode.h:25</a></div></div>
<div class="ttc" id="class_main_window_html_a56a5e4d5e0a022e8c1ecf350d2916ade"><div class="ttname"><a href="class_main_window.html#a56a5e4d5e0a022e8c1ecf350d2916ade">MainWindow::WriteSettings</a></div><div class="ttdeci">void WriteSettings()</div><div class="ttdef"><b>Definition:</b> <a href="mainwindow_8cpp_source.html#l00102">mainwindow.cpp:102</a></div></div>
<div class="ttc" id="class_main_window_html_a6f0a90213d93b861d43c09dd01c52962"><div class="ttname"><a href="class_main_window.html#a6f0a90213d93b861d43c09dd01c52962">MainWindow::MainWindow</a></div><div class="ttdeci">MainWindow(QNode *qnode, QWidget *parent=0)</div><div class="ttdef"><b>Definition:</b> <a href="mainwindow_8cpp_source.html#l00008">mainwindow.cpp:8</a></div></div>
<div class="ttc" id="class_q_node_html_af5092d0c618f01146c415c77bd025a35"><div class="ttname"><a href="class_q_node.html#af5092d0c618f01146c415c77bd025a35">QNode::traj_gen_call</a></div><div class="ttdeci">bool traj_gen_call(double tf, geometry_msgs::Twist v0, geometry_msgs::Twist a0, TrajGenOpts option)</div><div class="ttdef"><b>Definition:</b> <a href="qnode_8cpp_source.html#l00059">qnode.cpp:59</a></div></div>
<div class="ttc" id="class_q_node_html_a4b5f0a40821fbb176de620cb5a3921f7"><div class="ttname"><a href="class_q_node.html#a4b5f0a40821fbb176de620cb5a3921f7">QNode::previous_elapsed</a></div><div class="ttdeci">double previous_elapsed</div><div class="ttdef"><b>Definition:</b> <a href="qnode_8h_source.html#l00066">qnode.h:66</a></div></div>
<div class="ttc" id="class_q_node_html_a2b816456344fcf2d809fe6ff5526b6e9"><div class="ttname"><a href="class_q_node.html#a2b816456344fcf2d809fe6ff5526b6e9">QNode::queue_file_load</a></div><div class="ttdeci">void queue_file_load(int, vector&lt; geometry_msgs::PoseStamped &gt; &amp;)</div><div class="ttdef"><b>Definition:</b> <a href="qnode_8cpp_source.html#l00086">qnode.cpp:86</a></div></div>
<div class="ttc" id="class_main_window_html"><div class="ttname"><a href="class_main_window.html">MainWindow</a></div><div class="ttdef"><b>Definition:</b> <a href="mainwindow_8h_source.html#l00011">mainwindow.h:11</a></div></div>
<div class="ttc" id="class_q_node_html_a770568addece696138f515d38408ff5c"><div class="ttname"><a href="class_q_node.html#a770568addece696138f515d38408ff5c">QNode::shutdown</a></div><div class="ttdeci">void shutdown()</div><div class="ttdef"><b>Definition:</b> <a href="qnode_8cpp_source.html#l00020">qnode.cpp:20</a></div></div>
<div class="ttc" id="struct_traj_gen_opts_html_a538985230ef4a8cd7763c91d11bebbaf"><div class="ttname"><a href="struct_traj_gen_opts.html#a538985230ef4a8cd7763c91d11bebbaf">TrajGenOpts::poly_order</a></div><div class="ttdeci">int poly_order</div><div class="ttdef"><b>Definition:</b> <a href="_poly_traj_gen_8h_source.html#l00073">PolyTrajGen.h:73</a></div></div>
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